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Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
179 lines
5.6 KiB
Python
179 lines
5.6 KiB
Python
"""Tests for XML actuator wrappers."""
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import mujoco
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import pytest
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from conftest import get_test_device
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from mjlab.actuator import XmlActuator, XmlActuatorCfg
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from mjlab.entity import Entity, EntityArticulationInfoCfg, EntityCfg
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from mjlab.envs import ManagerBasedRlEnv, ManagerBasedRlEnvCfg, mdp
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from mjlab.managers.observation_manager import ObservationGroupCfg, ObservationTermCfg
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from mjlab.scene import SceneCfg
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from mjlab.sim import MujocoCfg, SimulationCfg
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from mjlab.terrains import TerrainEntityCfg
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# Robot with 2 joints but only 1 actuator defined (underactuated).
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ROBOT_XML_UNDERACTUATED = """
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<mujoco>
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<worldbody>
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<body name="base" pos="0 0 1">
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<freejoint name="free_joint"/>
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<geom name="base_geom" type="box" size="0.2 0.2 0.1" mass="1.0"/>
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<body name="link1" pos="0 0 0">
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<joint name="joint1" type="hinge" axis="0 0 1" range="-1.57 1.57"/>
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<geom name="link1_geom" type="box" size="0.1 0.1 0.1" mass="0.1"/>
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</body>
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<body name="link2" pos="0 0 0">
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<joint name="joint2" type="hinge" axis="0 0 1" range="-1.57 1.57"/>
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<geom name="link2_geom" type="box" size="0.1 0.1 0.1" mass="0.1"/>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor name="actuator1" joint="joint2" gear="1.0"/>
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</actuator>
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</mujoco>
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"""
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@pytest.fixture(scope="module")
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def device():
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return get_test_device()
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def test_xml_actuator_underactuated_with_wildcard():
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"""XmlActuator filters to joints with XML actuators when using wildcard."""
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cfg = EntityCfg(
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spec_fn=lambda: mujoco.MjSpec.from_string(ROBOT_XML_UNDERACTUATED),
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articulation=EntityArticulationInfoCfg(
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actuators=(XmlActuatorCfg(target_names_expr=(".*",)),)
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),
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)
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entity = Entity(cfg)
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entity.compile()
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# Should only control joint2 (which has an XML actuator), not joint1.
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assert len(entity._actuators) == 1
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actuator = entity._actuators[0]
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assert actuator._target_names == ["joint2"]
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def test_xml_actuator_no_matching_actuators_raises_error():
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"""XmlActuator raises error when no targets have matching XML actuators."""
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with pytest.raises(
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ValueError, match="No XML actuators found for any targets matching the patterns"
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):
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cfg = EntityCfg(
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spec_fn=lambda: mujoco.MjSpec.from_string(ROBOT_XML_UNDERACTUATED),
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articulation=EntityArticulationInfoCfg(
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actuators=(XmlActuatorCfg(target_names_expr=("joint1",)),)
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),
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)
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entity = Entity(cfg)
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entity.compile()
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def test_joint_action_underactuated_with_wildcard(device):
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"""JointAction with wildcard pattern matches only actuated joints."""
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robot_cfg = EntityCfg(
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spec_fn=lambda: mujoco.MjSpec.from_string(ROBOT_XML_UNDERACTUATED),
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articulation=EntityArticulationInfoCfg(
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actuators=(XmlActuatorCfg(target_names_expr=(".*",)),)
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),
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)
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env_cfg = ManagerBasedRlEnvCfg(
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scene=SceneCfg(
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terrain=TerrainEntityCfg(terrain_type="plane"),
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num_envs=1,
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extent=1.0,
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entities={"robot": robot_cfg},
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),
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observations={
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"actor": ObservationGroupCfg(
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terms={
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"joint_pos": ObservationTermCfg(
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func=lambda env: env.scene["robot"].data.joint_pos
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),
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},
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),
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},
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actions={
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"joint_effort": mdp.JointEffortActionCfg(
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entity_name="robot", actuator_names=(".*",), scale=1.0
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)
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},
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sim=SimulationCfg(mujoco=MujocoCfg(timestep=0.01, iterations=1)),
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decimation=1,
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episode_length_s=1.0,
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)
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env = ManagerBasedRlEnv(cfg=env_cfg, device=device)
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action_term = env.action_manager._terms["joint_effort"]
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assert isinstance(action_term, mdp.JointEffortAction)
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# Wildcard should resolve to only actuated joint (joint2), not all joints.
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assert action_term.action_dim == 1
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assert action_term.target_names == ["joint2"]
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assert action_term.target_ids.tolist() == [1]
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env.close()
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# Robot with a "general" actuator (hand-tuned gainprm/biasprm that don't match
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# any standard pattern). Strict auto-detection would reject this.
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ROBOT_XML_GENERAL_ACTUATOR = """
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<mujoco>
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<worldbody>
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<body name="base" pos="0 0 1">
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<freejoint name="free_joint"/>
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<geom name="base_geom" type="box" size="0.2 0.2 0.1" mass="1.0"/>
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<body name="link1" pos="0 0 0">
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<joint name="joint1" type="hinge" axis="0 0 1" range="-1.57 1.57"/>
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<geom name="link1_geom" type="box" size="0.1 0.1 0.1" mass="0.1"/>
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</body>
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</body>
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</worldbody>
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<actuator>
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<general name="custom_act" joint="joint1"
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gaintype="fixed" biastype="affine"
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gainprm="10" biasprm="5 -3 -1"/>
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</actuator>
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</mujoco>
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"""
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def test_xml_actuator_explicit_command_field_bypasses_detection():
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"""Explicit command_field allows non-standard XML actuators."""
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cfg = EntityCfg(
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spec_fn=lambda: mujoco.MjSpec.from_string(ROBOT_XML_GENERAL_ACTUATOR),
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articulation=EntityArticulationInfoCfg(
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actuators=(
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XmlActuatorCfg(
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target_names_expr=("joint1",),
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command_field="effort",
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),
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)
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),
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)
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entity = Entity(cfg)
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entity.compile()
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actuator = entity._actuators[0]
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assert isinstance(actuator, XmlActuator)
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assert actuator.command_field == "effort"
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assert actuator._target_names == ["joint1"]
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def test_xml_actuator_auto_detection_rejects_general_actuator():
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"""Auto-detection raises for non-standard actuators when command_field is None."""
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with pytest.raises(ValueError, match="Cannot determine command field"):
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cfg = EntityCfg(
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spec_fn=lambda: mujoco.MjSpec.from_string(ROBOT_XML_GENERAL_ACTUATOR),
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articulation=EntityArticulationInfoCfg(
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actuators=(XmlActuatorCfg(target_names_expr=("joint1",)),)
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),
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)
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entity = Entity(cfg)
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entity.compile()
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